共查询到18条相似文献,搜索用时 156 毫秒
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多关节仿鱼运动推进机构的设计与实现 总被引:2,自引:0,他引:2
鱼类效率高、机动性强、持久力长的游动方式为人类水中运输设备提供了极佳的设计思路.通过模仿鱼类的运动方式,可设计出新颖的水下运输、作业装备.本文以仿鱼推进机构的设计和实现为目标,根据鱼类游动的特点,对其运动方式进行数字模拟,分析影响其游动性能的关键参数,并建立鱼类游动的数学模型.据此给出了一种多关节仿鱼推进机构的设计方案,完成了辅助这种仿生推进机构设计的仿真软件.借助可视化的鱼类游动及控制的仿真,给出仿鱼推进机构的关键参数,并研制了采用鱼类游动方式运动的仿生机器鱼. 相似文献
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设计了一种二自由度胸鳍/尾鳍协同推进的仿生机器鳕鱼,其胸鳍推进机构不仅能够单独实现前后拍翼运动、摇翼运动以及两者的复合运动,而且还可与尾鳍实现协同推进,进而分别建立了胸鳍单独推进、胸鳍/尾鳍协同推进时的水动力学模型。数值仿真及实验结果均表明,胸鳍复合运动与尾鳍协同推进时,仿生机器鱼游速最快,可达0.30 m/s,胸鳍摇翼运动推进时游速最低,仅为0.05 m/s,其他推进方式的游速介于二者之间,但均能够实现稳定的游动。与现有结果相比,所设计仿生机器鱼直线游动模态多样,稳定游速可选范围较宽,机动性较好。 相似文献
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[目的]旨在研究拍动式胸鳍沿翼展方向结构设计刚度对其水动力性能的影响。[方法]提出一种柔性仿生胸鳍的非均匀展向刚度设计方法。通过搭建的胸鳍水动力性能实验平台,测试0.3~1.0 Hz驱动频率下不同展向刚度仿生胸鳍拍动时产生的平均推进力与平均侧向力,并结合高速摄像机采集的胸鳍运动图像序列,分析仿生胸鳍展向变形对其产生推进力的影响。[结果]实验结果表明,在测试的拍动频率范围内,柔性仿生胸鳍产生的平均推进力及平均侧向力均与鳍条的展向刚度大小及分布情况相关。通过优化机器鱼样机(XJmanta)柔性仿生胸鳍的展向刚度可使其最大游动速度提升约45%。[结论]研究成果可用于指导拍动式柔性仿生胸鳍的设计,优化胸鳍输出水动力性能,提升仿生机器鱼本体游动时的机动性。 相似文献
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研究机器鱼是为了模仿鱼类的游动方式,研究出更为高效、灵活的水下航行器。文中介绍了一种基于拉线机构的机器鱼,主要介绍了对拉线机构应用在机器鱼推进上的仿真分析和控制。对拉线机构的鱼尾进行了仿真分析,并对比真实鱼类游动时的体干波曲线。仿真结果显示:基于拉线机构的机器鱼与传统的多关节串联驱动的机器鱼相比能更好地模拟真实鱼类的游动。制作了机器鱼样机和控制系统,用于进一步分析研究基于拉线机构的机器鱼的性能。 相似文献
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设计开发一种以胸鳍作为动力推进系统的仿生机器鱼.该仿生鱼具有效率高、机动性好、噪音低,对环境扰动小的优点,并能利用柔性胸鳍摆动方式实现推进及水平面内的机动运动.所设计的仿生机器鱼具有一定的工程应用价值. 相似文献
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电子海图中的海洋环境地理信息通常由复杂几何图形构成,在路径规划时需要建模处理,格栅化是最常用的处理方法。本文针对实际环境中的路径规划问题,分析环境地图格栅化对路径规划的影响,并介绍A*算法在栅格地图路径规划中的应用。以某海域环境为例,对不同尺度下的栅格地图进行路径规划对比分析。研究表明,环境地图的格栅化会显著提高路径规划的效率,但是过大的网格尺度会破坏规划空间的连通性。合理地调节障碍物边界处的等效网格设置,可以保证路径规划空间的连通性,在提高路径规划效率和成功率的同时,并不会影响规划路径的最终结果。 相似文献
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模型试验表明重力式网箱在波浪作用下,单纯浮架的受力贡献比例较大。本文运用波浪理论,通过建立浮架、锚绳及浮子的运动方程,采用五阶龙格-库塔进行数值求解,得到了单体网格式锚碇单纯浮架的数值计算模式。将计算模型简化为四点锚碇,并将计算结果与实验结果进行了比较,二者符合程度较好。在此基础上,比较了单体网格式锚碇与四点锚碇单纯浮架的受力,结果表明网格式锚碇方式浮架受力较小。 相似文献
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为了提高矢量传感器阵列的方位估计性能,提出了一种基于空间域数据拟合的矢量阵多目标分辨算法,通过利用已知的空间域数据信息,构造出新的声压与振速的接收数据协方差矩阵,在多目标分辨能力上对经典MUSIC算法予以改进。理论分析和计算机仿真表明,在各向同性噪声场中,新算法在提高多目标分辨能力方面比传统方法更有效。 相似文献
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本文基于神经网络控制算法,研究了结构变频率特性主动控制方法,构建了控制系统整体框架,推导了整个控制系统的算法。同时,搭建了悬臂壳结构变频率特性主动控制实验台,利用附加在悬臂壳结构上的激振器,进行壳体表面多个位置的振动控制即结构变频率特性主动控制,从而完成与目标预设频谱的逼近,实验证明了该方法的可行性。 相似文献
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Yusuke Tahara Robert V. Wilson Pablo M. Carrica Frederick Stern 《Journal of Marine Science and Technology》2006,11(4):209-228
Steady flow simulations for the Korean Research Institute for Ships and Ocean Engineering (KRISO) container ship (KCS) were
performed for towing and self-propulsion. The main focus in the present article is on the evaluation of computational fluid
dynamics (CFD) as a tool for hull form design along with application of state-of-the-art technology in the flow simulations.
Two Reynolds-averaged Navier-Stokes (RANS) equation solvers were employed, namely CFDShip-Iowa version 4 and Flowpack version
2004e, for the towing and self-propulsion cases, respectively. The new features of CFDShip-Iowa version 4 include a single-phase
level-set method to model the free surface and an overset gridding capability to increase resolution in the flow and wave
fields. The new features of Flowpack version 2004e are related to a self-propulsion scheme in which the RANS solver is coupled
with a propeller performance program based on the infinitely bladed propeller theory. The present work is based on a close
interaction between IIHR-Hydroscience and Engineering of the University of Iowa and Osaka Prefecture University. In the following
article, overviews are given of the present numerical methods and results are presented and discussed for the KCS in towing
and self-propulsion modes, including comparison with available experimental fluid dynamics (EFD) data. Additional evaluation
is provided through discussion of the recent CFD Workshop Tokyo 2005, where both methods appeared to yield very promising
results. 相似文献
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The Hilbert-Huang transform (HHT) has been widely applied and recognised as a powerful time-frequency analysis method for nonlinear and non-stationary signals in numerous engineering fields. One of its major challenges is that the HHT is frequently subject to mode mixing in the processing of practical signals such as those of offshore wind turbines, as the frequencies of offshore wind turbines are typically close and contaminated by noise. To address this issue, this paper proposes a new time-frequency analysis method based on single mode function (SMF) decomposition to overcome the mode mixing problem in the structural health monitoring (SHM) of offshore wind turbines. In this approach, the structural vibration signal is first decomposed into a set of window components using complex exponential decomposition. A state-space model is introduced in the signal decomposition to improve the numerical stability of the decomposition, and then a novel window-alignment strategy, named energy gridding, is proposed and the signals are constructed in the corresponding gridding. Furthermore, energy recollection is implemented in each gridding, and the reassembling of these components yields an SMF that is comparable to the intrinsic mode function (IMF) of the HHT, but with a significant improvement in terms of mode mixing. Four case studies are conducted to evaluate the performance of the proposed method. The first case attempts to detect three different frequencies in a simulated time-invariant signal. The second case attempts to test a synthesised signal with segmental time-varying frequencies (each segment contains three different frequencies components). The analysis results in these two cases indicate that mode mixing can be reduced by the proposed method. Furthermore, a synthesised signal with slowly varying frequencies is used. These analysis results demonstrate the effective suppression of non-relevant frequency components using SMF decomposition. In the third case, the experimental data from vortex-induced vibration (VIV) experiments sponsored by the Norwegian Deepwater Programme (NDP) are used to evaluate the proposed SMF decomposition for vibration mode identification. In the final case, field data acquired from an offshore wind turbine foundation and offshore wind turbine are analysed. The mode identification results obtained using SMF decomposition are compared with those produced by the HHT. The comparison demonstrates superior performance of the proposed method in identifying the vibration modes of the VIV experimental and field data. 相似文献
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以某型后收式减摇鳍装置为例,建立鳍角反馈装置的数学模型,编制Matlab程序,运用网格法,对反馈装置的结构尺寸以反馈偏差平方和最小及偏差绝对值最小为目标进行优化计算,分析了优化计算的结果,并对优化参数的变化对目标函数的影响进行了分析、比较. 相似文献